# -- coding: utf-8 --
"""
# [Example] Miahx© 交互框架信息表示模型的 DDS 消息收发示例

**模块：MIAHX© / 框架基础服务层（FFST） / 交互框架信息表示模型（IFIRM）**

Version: 0.4.10,
Last updated: October 13, 2024

## Contributor(s)
* YAO Naiming <[naiming@iscas.ac.cn](mailto:naiming@iscas.ac.cn)>

## Change log
### v0.4.10
- .13: [更新] 适配新消息定义
- .9: [更新] 修复缺陷，支持 packed 消息写入（timestamps 和 sns） (deprecated)
- .2: [更新] 适配新接口 (deprecated)
### v0.4.9
- .28: [新增] 测试经过适配调整后的图像协议
### v0.4.7
- .24: [新增] 初始实现

---
Copyright © 2024-2025 MIAHX Contributors, ISCAS, and ASIC. All Rights Reserved.
Licensed under Apache-2.0.
"""

import io
import threading
import time

import PIL.Image
import numpy as np
from miahx_support.dds.fastdds import *
from miahx_support.stag import STag

import launcher


def compressed_image_writer(p: Participant, e: threading.Event):
    stag = STag(**dict(sensor_channel=1, sensor_domain='ENVIRON', sensor_type='VBNG_CAMERA',
                       sensor_channel_type='IGNORE', sensor_modality='IMAGE', sensor_data_format='PNG')).encode()
    writer = CompressedImageStreamWriter(p, topic, stag=stag, srate=1000, schns=None)
    while not e.is_set():
        chunk = [(1, 1.0, 'raw', np.zeros((1, 1, 3), dtype=np.uint8).tobytes()),
                 (2, 2.0, 'raw', np.zeros((2, 2, 3), dtype=np.uint8).tobytes())]
        writer.write(chunk, iid=0, uts=0)
        time.sleep(1)


def compressed_image_reader(p: Participant, e: threading.Event):
    def on_data_available(data):
        hdr = data.header()
        dm = hdr.header().domain()
        src = hdr.header().source()
        prefix = f'[{dm}::{src}::{name}]'

        schns = tuple(hdr.schns())
        samples = list(data.samples())
        log.info(f'{prefix} stag = `{hdr.stag()}`')
        log.info(f'{prefix} srate = `{hdr.srate()}`')
        log.info(f'{prefix} schns = `{schns}`')
        log.info(f'{prefix} elements = [{len(samples)}]')

        for i, sample in enumerate(samples):
            log.info(f'{prefix} Element [{i}]:')
            log.info(f'{prefix} \t\tformat = `{sample.format()}`')
            log.info(f'{prefix} \t\tlength = `{len(sample.rawdata())}`')
            log.info(f'{prefix} End Element [{i}] --------')

            fmt = sample.format().upper()
            if fmt == 'JPEG' or fmt == 'PNG':
                image = PIL.Image.open(io.BytesIO(bytes(sample.rawdata())))
                log.info(f'{prefix} \t\timage_size = `{image.size}`')
                image.save(f'd:\\a.{fmt}', format=fmt)

        log.info(f'{prefix} ----------------')

    with CompressedImageStreamReader(p, topic, on_data_listeners=[on_data_available]) as reader:
        name = type(reader).__name__
        log.success(f'[{name}] Topic: {reader.topic_name}')
        reader.wait(e)


if __name__ == '__main__':
    log = launcher.log
    event = threading.Event()
    participant = Participant()

    topic = Topics.DEV_CAMERA

    launcher.run(lambda: (event, [
        threading.Thread(target=compressed_image_writer, args=(participant, event), daemon=False),
        threading.Thread(target=compressed_image_reader, args=(participant, event), daemon=False),
    ]))
